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Adaptive motion control law of a robotic wheelchair
Authors:Celso De La Cruz  Teodiano Freire Bastos
Affiliation:a Electrical Engineering Department, Universidade Federal do Espírito Santo, Av. Fernando Ferrari 514 Campus, Universitário, 29075-910 Vitória, ES, Brazil
b Instituto de Automática, Universidad Nacional de San Juan, Av. San Martín Oeste 1112, J5400ARL San Juan, Argentina
Abstract:In the present work, a dynamic model of a robotic wheelchair is developed considering a lateral deviation of the center of mass. The Lyapunov and input/output stability theories are used to design a novel tracking and positioning adaptive control for the robotic wheelchair. Properties of the dynamic model with respect to its matrices and parameters are shown. A filter is used to obtain a closed loop equation that allows designing the adaptive control law. Then, a projection algorithm is used to improve the adaptive control in the sense of avoiding parameter drift. Experimental results show good performance of the adaptive control.
Keywords:Robotic wheelchair   Dynamic modeling   Adaptive control   Tracking control   Lyapunov design   Input/output stability
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